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Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots
Adrian B. Ghansah, Sergio A. Esteban, Aaron D. Ames
As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical co…
A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics
Sergio A. Esteban, Max H. Cohen, Adrian B. Ghansah +1
Reduced-order models (ROMs) provide a powerful means of synthesizing dynamic walking gaits on legged robots. Yet this approach lacks the formal guarantees enjoyed by methods that u…
Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models
Lizhi Yang, Blake Werner, Adrian B. Ghansah +1
Push recovery during locomotion will facilitate the deployment of humanoid robots in human-centered environments. In this paper, we present a unified framework for walking control…
Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion
Sergio A. Esteban, Vince Kurtz, Adrian B. Ghansah +1
Humanoid robots have great potential for real-world applications due to their ability to operate in environments built for humans, but their deployment is hindered by the challenge…